EP3167553B1 - Cancelling intermodulation interference - Google Patents
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- EP3167553B1 EP3167553B1 EP14747424.1A EP14747424A EP3167553B1 EP 3167553 B1 EP3167553 B1 EP 3167553B1 EP 14747424 A EP14747424 A EP 14747424A EP 3167553 B1 EP3167553 B1 EP 3167553B1
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/06—Receivers
- H04B1/10—Means associated with receiver for limiting or suppressing noise or interference
- H04B1/1027—Means associated with receiver for limiting or suppressing noise or interference assessing signal quality or detecting noise/interference for the received signal
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/06—Receivers
- H04B1/10—Means associated with receiver for limiting or suppressing noise or interference
- H04B1/1027—Means associated with receiver for limiting or suppressing noise or interference assessing signal quality or detecting noise/interference for the received signal
- H04B1/1036—Means associated with receiver for limiting or suppressing noise or interference assessing signal quality or detecting noise/interference for the received signal with automatic suppression of narrow band noise or interference, e.g. by using tuneable notch filters
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/06—Receivers
- H04B1/10—Means associated with receiver for limiting or suppressing noise or interference
- H04B1/109—Means associated with receiver for limiting or suppressing noise or interference by improving strong signal performance of the receiver when strong unwanted signals are present at the receiver input
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/38—Transceivers, i.e. devices in which transmitter and receiver form a structural unit and in which at least one part is used for functions of transmitting and receiving
- H04B1/40—Circuits
- H04B1/50—Circuits using different frequencies for the two directions of communication
- H04B1/52—Hybrid arrangements, i.e. arrangements for transition from single-path two-direction transmission to single-direction transmission on each of two paths or vice versa
- H04B1/525—Hybrid arrangements, i.e. arrangements for transition from single-path two-direction transmission to single-direction transmission on each of two paths or vice versa with means for reducing leakage of transmitter signal into the receiver
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L27/00—Modulated-carrier systems
- H04L27/0008—Modulated-carrier systems arrangements for allowing a transmitter or receiver to use more than one type of modulation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L5/00—Arrangements affording multiple use of the transmission path
- H04L5/14—Two-way operation using the same type of signal, i.e. duplex
- H04L5/1461—Suppression of signals in the return path, i.e. bidirectional control circuits
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B1/00—Details of transmission systems, not covered by a single one of groups H04B3/00 - H04B13/00; Details of transmission systems not characterised by the medium used for transmission
- H04B1/06—Receivers
- H04B1/10—Means associated with receiver for limiting or suppressing noise or interference
- H04B1/1027—Means associated with receiver for limiting or suppressing noise or interference assessing signal quality or detecting noise/interference for the received signal
- H04B2001/1054—Means associated with receiver for limiting or suppressing noise or interference assessing signal quality or detecting noise/interference for the received signal by changing bandwidth
Definitions
- Embodiments herein relate to cancelling intermodulation interference in a receiver in a wireless communication node.
- RF components need to be miniaturized.
- miniaturization of RF components will typically result in RF components that have reduced performance, in terms of noise and RF interference performance etc., than RF components that are not miniaturized, for example components that are used in products such as radio base stations.
- RF components need to be cost effective and power efficient which sets additional performance challenges.
- improved interference cancellation is needed.
- a non-linear RF component generates intermodulation interference signals from a signal which passes the RF component and the intermodulation products typically deteriorate signals received in the receiver.
- a commonly used parameter for characterizing intermodulation is the so-called third order intercept point. This parameter can be directly measured in the component itself and RF component manufacturers specify this value in data sheets that describe the RF component.
- the third order intermodulation is typically a dominant source of interference but 5th order, 7th order or any odd order intermodulation products may cause problems in signal reception. Also even order IM distortion may fall in to the received signal frequency in homodyne receivers.
- the active components may include any of a low-noise amplifier (LNA), an automatic gain controller (AGC), a mixer, an analogue-to-digital converter (ADC) or any other active component which is a part of a signal chain of a radio receiver.
- LNA low-noise amplifier
- ADC automatic gain controller
- PIM passive intermodulation
- radio frequency filters for example duplex filters
- US patent application publication US 2012/0295558 describes dynamic cancellation of passive intermodulation interference.
- the method presented in US 2012/0295558 is requires a test signal that originates from a transmitter to be able to correct PIM interference. If the interference is generated in the receiver filters or any other receiver signal path component the solution based on US 2012/0295558 will not be applicable.
- US patent application publication US2008/0107046 describes cancellation of self-interference and inter modulation using a model including linear and non-linear parts.
- a method performed by a receiver, for cancelling intermodulation interference.
- the method comprises receiving a digital signal sample and obtaining a power of the received digital signal sample. Based on the obtained power, at least one model value is obtained from a model that models model values of a non-linearity in amplitude and phase of a received signal that passes through passive and active components in the receiver.
- the model values correspond to a plurality of powers of the received signal.
- Intermodulation interference is then cancelled by multiplying the received digital signal sample with the obtained at least one model value, thereby obtaining an output digital signal sample from which intermodulation interference, inflicted by the receiver, is cancelled.
- the model values in addition to correspond to a plurality of powers of the received signal, also correspond to a plurality of temperature values that represent temperatures of the passive and active components in the receiver. Consequently, in these embodiments, the method further comprises determining a temperature value that represents a temperature of the passive and active components in the receiver and the obtaining of a value from a model is based also on the determined temperature.
- intermodulation interference that is a consequence of active components, duplex filters or any filter along a reception signal path in a receiver is mathematically modeled which is used to post correct a received signal intermodulation distortion component (i.e. intermodulation interference). Correction is applied as a function of the power or amplitude of the received signal and/or temperature.
- the model is a predetermined fixed algorithm and in some embodiments, the model is an adaptive algorithm.
- the method further comprises updating the model based on a quality (e.g. signal to interference ratio, signal to noise ratio, bit error rate, error vector magnitude etc.) of the received signal, and/or by minimizing a difference between the received signal and an expected received signal (such as a pilot or reference signal).
- a quality e.g. signal to interference ratio, signal to noise ratio, bit error rate, error vector magnitude etc.
- the updating of the model is triggered, i.e. the updating is performed in response to a determination that the quality of the received signal is below a threshold quality, and/or that the difference between the received signal and an expected received signal is greater than a difference threshold.
- the model is in the form of a lookup table (LUT).
- the model values of the model are in such embodiments in the form of LUT values that are indexed in the LUT by the obtained power.
- the model values also correspond to a plurality of temperature values
- the model values of the model are indexed in the LUT by the obtained power and also indexed in the LUT by the temperature.
- a power of a blocking signal in the receiver and a power of the received signal sample are determined.
- the step of multiplying the received digital signal sample with the obtained at least one model value is in these embodiments done if the power of the blocking signal is higher than a first threshold and/or if the power of the received digital signal sample is lower than a second threshold.
- the cancellation of the intermodulation interference is in such embodiments conditioned on an incoming reception signal (combined interference and wanted signal) being in excess of a pre-determined threshold level and/or that the wanted received signal is weaker than another pre-determined threshold level.
- a receiver that comprises radio frequency circuitry, a processor and a memory.
- the memory contains instructions executable by the processor whereby the receiver is operative to control the receiver by receiving a digital signal sample and obtaining a power of the received digital signal sample. Based on the obtained power, at least one model value is obtained from a model that models model values of a non-linearity in amplitude and phase of a received signal that passes through passive and active components in the receiver. The model values correspond to a plurality of powers of the received signal. Intermodulation interference is then cancelled by multiplying the received digital signal sample with the obtained at least one model value, thereby obtaining an output digital signal sample from which intermodulation interference, inflicted by the receiver, is cancelled.
- a transceiver comprises such a receiver and a transmitter and a wireless communication node comprises such a receiver.
- a computer program comprising instructions which, when executed on at least one processor in a wireless communication node, cause the wireless communication node to carry out the method as summarized above.
- a carrier comprising such a computer program, wherein the carrier is one of an electronic signal, an optical signal, a radio signal and a computer readable storage medium.
- FIG. 1a illustrate in some more detail problems that the present disclosure addresses.
- the schematically presented block diagram in figure 1a is a simplified presentation of radio transceiver 100.
- the transceiver 100 comprises an antenna 101, a duplex filter 110, a low noise amplifier 120, a power amplifier 130, RF signal chains 140, which comprises (not shown in figure 1a ) variable gain amplifiers, frequency mixers, intermediate frequency (IF) and/or base band filters etc.
- the transceiver also comprises a digital signal processing block 150, which may be implemented with a field-programmable gate array (FPGA), central processing unit (CPU) or any other appropriate digital processing means.
- FPGA field-programmable gate array
- CPU central processing unit
- the interference signal is known (i.e. frequency and amplitude and phase are known) then it could be compensated in the receiver in the digital signal processing block 150.
- the interference signal is known (i.e. frequency and amplitude and phase are known) then it could be compensated in the receiver in the digital signal processing block 150.
- a wanted modulated signal i.e. an own received (RX) signal is illustrated at reference A in figure 1 a and illustrated by a slanted striped area in graph A in figure 1 b.
- This own RX signal generates itself third order intermodulation distortion (IM3) signal products that are generated within the modulation band width of the own RX signal.
- IM3 distortion is illustrated schematically by a hashed area in graph B in figure 1 b.
- the own RX signal causes interference due to non-linear behavior of RF components through which the signal passes, exemplified by blocks 110 and 120 in figure 1a .
- the modulated own RX signal is present and when the signal passes through components in blocks 110 and 120, intermodulation products (IMD) will be generated top of the own RX signal.
- the intermodulation products depend on the signal modulation bandwidth, i.e. the bandwidth of the own RX signal. The reason for this is that individual signal components within the modulation band width can be considered independent signals that may produce intermodulation products.
- the width of the intermodulation signal i.e. the IM3 distortion, is three times wider than modulation band width, when the interference is based on 3rd order non-linearity (as is the case illustrated here).
- One blocking interference signal illustrated by a horizontally striped area together with the own RX signal in graph A in figure 1c , generates IM3 distortion that is generated at least partly over the modulation signal band width of the own signal as illustrated in figure 1 c.
- the blocking interfering signal generates, e.g., 3rd order interference adjacent to frequencies where the own RX signal is located.
- the own RX signal and the blocking signal are at different frequencies.
- the IM3 distortion is generated.
- Some interference signal components may fall on top of the own RX signal and thus the quality of received signal or a signal to noise/interference ratio of the own RX signal will be degraded.
- a level of the interference signal components is dependent on the signal level of the blocking signal and the characteristics of the linearity (e.g. as defined by the so-called Input Intercept Point 3 (IIP3) of the RF component). The closer the blocking signal level is to the IIP3 point, the higher are the levels of the interference signal products.
- IIP3 Input Intercept Point 3
- the two interfering signals are present at the antenna 101 and those signals are mixed with each other due to non-linearity of the RF components through which they pass to produce an interference signal product in the (frequency) vicinity of the own RX signal.
- the two blocking signals are separated in the frequency domain by a delta ( ⁇ ) frequency then the intermodulation products will appear ⁇ -frequency apart from the blocking signals themselves.
- figures 1b-d illustrate how spectrum is changed due to non-linear elements 110 and 120 in the signal chain. However, similar spectrum figures can be seen in any point along the signal path from the antenna 101 to the digital signal processing block 150.
- a receiver 200 comprises an antenna 222 that receives a modulated signal 211 that passes through an RF signal chain 206.
- the RF signal chain 206 comprises passive components 211, active components 213 and an analog-to-digital converter 215, which outputs the digital signal sample x.
- the digital signal sample x includes, as discussed above in connection with figures 1a-d , an own RX signal component as well as any blocking signal(s) and IM3 (or higher order) distortion components.
- the digital signal sample x is processed in digital processing circuitry, which in figure 2a is illustrated with a processor 202 to which a memory 204 is connected.
- Figure 2b illustrates a part 242 of the processor 202.
- temperature data 205 may in some embodiments be utilized.
- embodiments will be described that correct IMD products from the received signal band width by generating an opposite phase and amplitude signals for the IMD products, the result being an IMD distortion (i.e. interference) free wanted signal. This resulting interference free signal is in figure 2a denoted y.
- the RF signal chain 206 is connected to the processor 202 and although the signal sample x is the only signal illustrated, it is to be noted that other information may be exchanged between the RF signal chain 206 and the processor 202.
- the active components 213 comprise one or more variable gain amplifiers (VGA) that may be controlled by control signals provided by the processor 202.
- the active components 213 may also comprise one or more low noise amplifiers (LNA) that is configured such that information about a signal at an input of the LNA is available for use by the processor.
- the processor 202 may execute an AGC algorithm that operates to control the VGA.
- a flow chart illustrates a method performed by a wireless communication node comprising a receiver, such as the receiver 200 in figure 2a .
- the method is for cancelling intermodulation interference as discussed above and it comprises a number of actions as follows:
- a digital signal sample x is received.
- the digital signal x may comprise a wanted modulated signal (i.e. an own signal) and any undesirable distortions that are due to intermodulation.
- a power of the received digital signal sample x is obtained.
- this obtaining of the power of the received digital signal sample may comprise performing a calculation in a power calculator 243 that involves integrated sliding window power detection.
- the obtaining of power of the received digital signal sample may alternatively comprise a power calculation by use of an integrator implemented by way of an infinite impulse response, IIR, filter.
- the signal power may be expressed as
- 2 I 2 + Q 2 , where I and Q are the in-phase component and the quadrature phase component of the received digital signal sample x. It is to be noted that, for the purpose of the embodiments herein, the power may be expressed in the form of the amplitude of the received digital signal x, i.e. the power may be expressed by
- the obtaining of a power of the received digital signal sample may in various embodiments comprise obtaining the power from an AGC algorithm that operates to control a VGA in the active components 213 in the receiver 200.
- the obtaining of a power of the received digital signal sample may comprise obtaining the power from an input of a low noise amplifier, LNA, in the active components 213 in the receiver.
- At least one model value is obtained from a model 244.
- the model 244 is such that it models model values of a non-linearity in amplitude and phase of a received signal that passes through the passive components 211 and the active components 213 in the receiver 200.
- the model values correspond to a plurality of powers of the received signal and they may, in some embodiments, be complex values and in some embodiments the model values are Volterra polynomial coefficients.
- the model values in addition to correspond to a plurality of powers of the received signal, also correspond to a plurality of temperature values that represent temperatures of the passive components 211 and active components 213 in the receiver 200.
- a determination is made, in action 304, of a temperature value that represents a temperature of the passive and active components 211, 213 in the receiver 200.
- the obtaining of a value from a model 244 is then based also on the determined temperature.
- the model 244 may be a predetermined fixed algorithm. That is, in such embodiments, the model 244 has been calculated and the model values are pre-determined and available to be obtained.
- the model may have originated as a result of measurements and calculations during research and development of the receiver and/or at a later production stage calibration to match a nonlinear behaviour of the receiver.
- the model 244 is an adaptive algorithm.
- the model 244 may be updated based on a quality of the received signal, and in some embodiments updated by minimizing a difference between the received signal and an expected received signal.
- Such model updating may in some embodiments be performed in response to a determination that the quality of the received signal is below a threshold quality and in some embodiments in response to a determination that the difference between the received signal and an expected received signal is greater than a difference threshold.
- the quality of the received signal may be any of signal to interference ratio, signal to noise ratio, bit error rate, and error vector magnitude.
- some embodiments involve a representation of the model 244 in the form of a lookup table, LUT, and wherein the model values of the model are in the form of LUT values that are indexed in the LUT by the obtained power.
- the model values also correspond to a plurality of temperature values
- the model values of the model 244 are indexed in the LUT by the obtained power and indexed in the LUT also by the temperature.
- the LUT may indexed as a function of signal instant signal power,
- 2 I 2 + Q 2 , where I and Q are the in-phase component and the quadrature phase component of the received signal sample x.
- the instant power is calculated for each sample of received signal x and a correction value is selected from the LUT based on the calculated index and the selected value is multiplied with the received signal.
- the calculation of the index may be in the form of obtaining the N most significant bits of calculated
- the LUT may be a complex LUT, meaning that amplitude and phase non-linearity of the signal can be modelled. Distortion mechanisms are assumed to be more or less memory less and therefore memory less LUT implementation is typically sufficient. If higher performance is required, more LUTs may be added to model memory effects.
- Intermodulation interference is cancelled by multiplying in a multiplier 245 the received digital signal sample x with the obtained at least one model value.
- the output digital signal sample y is thereby obtained from which intermodulation interference, inflicted by the receiver 200, is cancelled.
- some embodiments are such that they impose a condition on the cancellation of the interference. Such embodiments are illustrated in figure 4 .
- a digital signal sample x is received.
- a power of the received digital signal sample x is obtained.
- a power of a blocking signal in the receiver is determined. This determination may be performed by, e.g., the same method as for the received signal power calculation as described above in connection with action 303.
- a blocking signal may be separated from a desired signal, e.g., with a digital filter applied prior to the power calculation.
- Checks are made if the power of the blocking signal is higher than a first threshold and/or if the power of the received digital signal sample is lower than a second threshold.
- the receiver 500 may be a receiver such as the receiver 200 in figure 2a as well as a receiver in a transceiver such as the transceiver 100 in figure 1a .
- the receiver 500 comprises an antenna 522, radio frequency circuitry 506, a processor 502 and a memory 504, the memory 504 containing instructions executable by the processor 502 whereby the receiver 500 is operative to control the receiver 500 by:
- the receiver 500 may be operative to control the receiver such that the model values, in addition to correspond to a plurality of powers of the received signal, also correspond to a plurality of temperature values that represent temperatures of the passive and active components in the receiver, and operative to control the receiver 500 by:
- the receiver 500 may be operative to control the receiver 500 such that the model is a predetermined fixed algorithm.
- the receiver 500 may be operative to control the receiver 500 such that the model is an adaptive algorithm and operative to control the receiver 500 by:
- the receiver 500 may be operative to control the receiver 500 such that the updating is performed in response to any of:
- the receiver 500 may be operative to control the receiver 500 such that the quality of the received signal is any of:
- the receiver 500 may be operative to control the receiver 500 such that the model is in the form of a lookup table, LUT, and wherein the model values of the model are in the form of LUT values that are indexed in the LUT by the obtained power.
- the receiver 500 may be operative to control the receiver 500 such that the model values of the model are indexed in the LUT by the obtained power and indexed in the LUT by the temperature.
- the receiver 500 may be operative to control the receiver 500 by:
- the receiver 500 may be operative to control the receiver 500 such that the obtaining of a power of the received digital signal sample comprises any of:
- the receiver 500 may be operative to control the receiver 500 such that the obtaining of a power of the received digital signal sample comprises obtaining the power from an automatic gain control, AGC, algorithm that operates to control a variable gain amplifier, VGA, in the receiver.
- AGC automatic gain control
- VGA variable gain amplifier
- the receiver 500 may be operative to control the receiver 500 such that the obtaining of a power of the received digital signal sample comprises obtaining the power from an input of a low noise amplifier, LNA, in the receiver.
- LNA low noise amplifier
- the receiver 500 may be operative to control the receiver 500 such that the model values are complex values, for example in the form of Volterra polynomial coefficients.
- the instructions that are executable by the processor 502 may be software in the form of a computer program 541.
- the computer program 541 may be contained in or by a carrier 542, which may provide the computer program 541 to the memory 504 and processor 502.
- the carrier 542 may be in any suitable form including an electronic signal, an optical signal, a radio signal or a computer readable storage medium.
- the receiver 600 may be a receiver such as the receiver 200 in figure 2a as well as a receiver in a transceiver such as the transceiver 100 in figure 1a .
- the receiver 600 comprises:
- the node 600 may comprise further modules that are configured to operate in a similar manner as the node described above in connection with figure 5 .
- the transceiver 700 comprises a receiver 702 and a transmitter 704.
- the receiver 702 may be a receiver such as the receivers described above in connection with figures 1 to 6 .
- the wireless communication node 800 comprises a receiver 802 and, optionally, a transmitter 804.
- the receiver 802 may be a receiver such as the receivers described above in connection with figures 1 to 6 .
- processing module may refer to a processing circuit, a processing unit, a processor, an Application Specific integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or the like.
- ASIC Application Specific integrated Circuit
- FPGA Field-Programmable Gate Array
- a processor, an ASIC, an FPGA or the like may comprise one or more processor kernels.
- the processing module may be embodied by a software module or hardware module. Any such module may be a determining means, estimating means, capturing means, associating means, comparing means, identification means, selecting means, receiving means, transmitting means or the like as disclosed herein.
- the expression “means” may be a module, such as a determining module, selecting module, etc.
- the expression “configured to” may mean that a processing circuit is configured to, or adapted to, by means of software configuration and/or hardware configuration, perform one or more of the actions described herein.
- memory may refer to a hard disk, a magnetic storage medium, a portable computer diskette or disc, flash memory, random access memory (RAM) or the like. Furthermore, the term “memory” may refer to an internal register memory of a processor or the like.
- the term "computer readable medium” may be a Universal Serial Bus (USB) memory, a DVD-disc, a Blu-ray disc, a software module that is received as a stream of data, a Flash memory, a hard drive, a memory card, such as a Memory Stick, a Multimedia Card (MMC), etc.
- USB Universal Serial Bus
- DVD-disc DVD-disc
- Blu-ray disc Blu-ray disc
- Flash memory such as a Memory Stick, a Multimedia Card (MMC), etc.
- MMC Multimedia Card
- computer readable code units may be text of a computer program, parts of or an entire binary file representing a computer program in a compiled format or anything there between.
- number may be any kind of digit, such as binary, real, imaginary or rational number or the like. Moreover, “number”, “value” may be one or more characters, such as a letter or a string of letters. “number”, “value” may also be represented by a bit string.
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Noise Elimination (AREA)
Applications Claiming Priority (1)
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PCT/SE2014/050885 WO2016007056A1 (en) | 2014-07-10 | 2014-07-10 | Cancelling intermodulation interference |
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EP3167553A1 EP3167553A1 (en) | 2017-05-17 |
EP3167553B1 true EP3167553B1 (en) | 2018-02-21 |
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US (2) | US9960797B2 (es) |
EP (1) | EP3167553B1 (es) |
CN (2) | CN109981122B (es) |
AR (1) | AR101170A1 (es) |
BR (1) | BR112016028004A8 (es) |
WO (1) | WO2016007056A1 (es) |
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US9654158B2 (en) * | 2015-10-20 | 2017-05-16 | The Aerospace Corporation | Circuits and methods for reducing an interference signal that spectrally overlaps a desired signal |
US9894687B2 (en) * | 2015-11-20 | 2018-02-13 | Hughes Network Systems, Llc | Methods and apparatuses for providing random access communication |
US10340962B2 (en) | 2016-05-06 | 2019-07-02 | The Aerospace Corporation | Amplitude domain circuits and methods for reducing an interference signal that spectrally overlaps a desired signal |
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CN106664108A (zh) | 2017-05-10 |
AR101170A1 (es) | 2016-11-30 |
CN106664108B (zh) | 2019-05-17 |
US9960797B2 (en) | 2018-05-01 |
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